中文摘要：

分析低附条件下轮胎一路面的附着特性和轮胎力特性，建立基于HSRI轮胎模型的四轮2自由度模型，分析汽车在实际工况下的动力学稳定特性。应用β法分析汽车车身稳定性控制的可控区间，结合车身稳定特性、前后轴稳定特性、轮胎稳定特性，确定低附路面上汽车动力学稳定性控制系统对侧偏角、横摆角速度状态偏差的控制目标。基于上述分析开发出低附路面汽车动力学稳定性控制策略，并通过仿真和实车试验验证了控制效果。

英文摘要：

The tire-road friction characters and the tire force characters on the low friction conditions are studied. The 2-DOF vehicle model with four wheels is developed based on the HSRI tire model, and then the vehicle dynamics stability characteristic is studied for the real driving conditions. Applying the β method, the controllable range of the vehicle dynamics stability control system is analyzed. Then the characters of the vehicle stability, the axle stability, and the tire stability are integrated to study the control objects of the differences of the vehicle slip angle and the yaw rate. Based on the analysis, the vehicle dynamics stability control strategy on the low friction condition is brought forward, and then verified by the hardware-in-the-loop-system simulation and the real vehicle test on the winter test ground.